OpenRaiser/Intern-Atlas huggingface dataset:
3DMODT: Attention-Guided Affinities for Joint Detection & Tracking in 3D Point Clouds
Venue: arXiv cs.CV 2022
Year: 2022

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a single end-to-end trainable network eliminating the dependency on external object detectors. Our model exploits temporal information employing multiple frames to detect objects and track them in a single network, thereby making it a utilitarian formulation for real-world scenarios. Computing affinity matrix by employing features similarity across consecutive point cloud scans forms an integral part of visual tracking. We propose an attention-based refinement module to refine the affinity matrix by suppressing erroneous correspondences. The module is designed to capture the global context in affinity matrix by employing self-attention within each affinity matrix and cross-attention across a pair of affinity matrices. Unlike competing approaches, our network does not require complex post-processing algorithms, and processes raw LiDAR frames to directly output tracking results. We demonstrate the effectiveness of our method on the three tracking benchmarks: JRDB, Waymo, and KITTI. Experimental evaluations indicate the ability of our model to generalize well across datasets.
Counterfactual Causality in Networks
Venue: arXiv cs.FL 2022
Year: 2022

In this abstract we propose a framework for explaining violations of safety properties in Software Defined Networks, using counterfactual causal reasoning.
Reinforcement Learning in Education: A Multi-Armed Bandit Approach
Venue: arXiv cs.LG 2022
Year: 2022

Advances in reinforcement learning research have demonstrated the ways in which different agent-based models can learn how to optimally perform a task within a given environment. Reinforcement leaning solves unsupervised problems where agents move through a state-action-reward loop to maximize the overall reward for the agent, which in turn optimizes the solving of a specific problem in a given environment. However, these algorithms are designed based on our understanding of actions that should be taken in a real-world environment to solve a specific problem. One such problem is the ability to identify, recommend and execute an action within a system where the users are the subject, such as in education. In recent years, the use of blended learning approaches integrating face-to-face learning with online learning in the education context, has in-creased. Additionally, online platforms used for education require the automation of certain functions such as the identification, recommendation or execution of actions that can benefit the user, in this sense, the student or learner. As promising as these scientific advances are, there is still a need to conduct research in a variety of different areas to ensure the successful deployment of these agents within education systems. Therefore, the aim of this study was to contextualise and simulate the cumulative reward within an environment for an intervention recommendation problem in the education context.
Optical Channel Impulse Response-Based Localization Using An Artificial Neural Network
Venue: arXiv cs.IT 2022
Year: 2022

Visible light positioning has the potential to yield sub-centimeter accuracy in indoor environments, yet conventional received signal strength (RSS)-based localization algorithms cannot achieve this because their performance degrades from optical multipath reflection. However, this part of the optical received signal is deterministic due to the often static and predictable nature of the optical wireless channel. In this paper, the performance of optical channel impulse response (OCIR)-based localization is studied using an artificial neural network (ANN) to map embedded features of the OCIR to the user equipment's location. Numerical results show that OCIR-based localization outperforms conventional RSS techniques by two orders of magnitude using only two photodetectors as anchor points. The ANN technique can take advantage of multipath features in a wide range of scenarios, from using only the DC value to relying on high-resolution time sampling that can result in sub-centimeter accuracy.
An Information-Theoretic Approach for Estimating Scenario Generalization in Crowd Motion Prediction
Venue: arXiv cs.LG 2022
Year: 2022

Learning-based approaches to modeling crowd motion have become increasingly successful but require training and evaluation on large datasets, coupled with complex model selection and parameter tuning. To circumvent this tremendously time-consuming process, we propose a novel scoring method, which characterizes generalization of models trained on source crowd scenarios and applied to target crowd scenarios using a training-free, model-agnostic Interaction + Diversity Quantification score, ISDQ. The Interaction component aims to characterize the difficulty of scenario domains, while the diversity of a scenario domain is captured in the Diversity score. Both scores can be computed in a computation tractable manner. Our experimental results validate the efficacy of the proposed method on several simulated and real-world (source,target) generalization tasks, demonstrating its potential to select optimal domain pairs before training and testing a model.
TSAA: A Two-Stage Anchor Assignment Method towards Anchor Drift in Crowded Object Detection
Venue: arXiv cs.CV 2022
Year: 2022

Among current anchor-based detectors, a positive anchor box will be intuitively assigned to the object that overlaps it the most. The assigned label to each anchor will directly determine the optimization direction of the corresponding prediction box, including the direction of box regression and category prediction. In our practice of crowded object detection, however, the results show that a positive anchor does not always regress toward the object that overlaps it the most when multiple objects overlap. We name it anchor drift. The anchor drift reflects that the anchor-object matching relation, which is determined by the degree of overlap between anchors and objects, is not always optimal. Conflicts between the fixed matching relation and learned experience in the past training process may cause ambiguous predictions and thus raise the false-positive rate. In this paper, a simple but efficient adaptive two-stage anchor assignment (TSAA) method is proposed. It utilizes the final prediction boxes rather than the fixed anchors to calculate the overlap degree with objects to determine which object to regress for each anchor. The participation of the prediction box makes the anchor-object assignment mechanism adaptive. Extensive experiments are conducted on three classic detectors RetinaNet, Faster-RCNN and YOLOv3 on CrowdHuman and COCO to evaluate the effectiveness of TSAA. The results show that TSAA can significantly improve the detectors' performance without additional computational costs or network structure changes.
Internet Of Rights(IOR) In Role Based Block Chain
Venue: arXiv cs.NI 2022
Year: 2022

A large amount of data has been accumulated. with the development of the Internet industry. Many problems have been exposed with data explosion: 1. The contradiction between data privacy and data collaborations; 2. The contradiction between data ownership and the right of data usage; 3. The legality of data collection and data usage; 4. The relationship between the governance of data and the governance of rules; 5. Traceability of evidence chain. In order to face such a complicated situation, many algorithms were proposed and developed. This article tries to build a model from the perspective of blockchain to make some breakthroughs.Internet Of Rights(IOR) model uses multi-chain technology to logically break down the consensus mechanism into layers, including storage consensus, permission consensus, role consensus, transaction consensus etc. thus to build a new infrastructure, which enables data sources with complex organizational structures and interactions to collaborate smoothly on the premise of protecting data privacy. With blockchain's nature of decentralization, openness, autonomy, immutability, and controllable anonymity, Internet Of Rights(IOR) model registers the ownership of data, enables applications to build ecosystem based on responsibilities and rights. It also provides cross-domain processing with privacy protection, as well as the separation of data governance and rule governance. With the processing capabilities of artificial intelligence and big data technology, as well as the ubiquitous data collection capabilities of the Internet of Things, Internet Of Rights(IOR) model may provide a new infrastructure concept for realizing swarm intelligence and building a new paradigm of the Internet, i.e. intelligent governance.
Unsupervised Syntactically Controlled Paraphrase Generation with Abstract Meaning Representations
Venue: arXiv cs.CL 2022
Year: 2022

Syntactically controlled paraphrase generation has become an emerging research direction in recent years. Most existing approaches require annotated paraphrase pairs for training and are thus costly to extend to new domains. Unsupervised approaches, on the other hand, do not need paraphrase pairs but suffer from relatively poor performance in terms of syntactic control and quality of generated paraphrases. In this paper, we demonstrate that leveraging Abstract Meaning Representations (AMR) can greatly improve the performance of unsupervised syntactically controlled paraphrase generation. Our proposed model, AMR-enhanced Paraphrase Generator (AMRPG), separately encodes the AMR graph and the constituency parse of the input sentence into two disentangled semantic and syntactic embeddings. A decoder is then learned to reconstruct the input sentence from the semantic and syntactic embeddings. Our experiments show that AMRPG generates more accurate syntactically controlled paraphrases, both quantitatively and qualitatively, compared to the existing unsupervised approaches. We also demonstrate that the paraphrases generated by AMRPG can be used for data augmentation to improve the robustness of NLP models.
Rethinking the Metric in Few-shot Learning: From an Adaptive Multi-Distance Perspective
Venue: arXiv cs.CV 2022
Year: 2022

Few-shot learning problem focuses on recognizing unseen classes given a few labeled images. In recent effort, more attention is paid to fine-grained feature embedding, ignoring the relationship among different distance metrics. In this paper, for the first time, we investigate the contributions of different distance metrics, and propose an adaptive fusion scheme, bringing significant improvements in few-shot classification. We start from a naive baseline of confidence summation and demonstrate the necessity of exploiting the complementary property of different distance metrics. By finding the competition problem among them, built upon the baseline, we propose an Adaptive Metrics Module (AMM) to decouple metrics fusion into metric-prediction fusion and metric-losses fusion. The former encourages mutual complementary, while the latter alleviates metric competition via multi-task collaborative learning. Based on AMM, we design a few-shot classification framework AMTNet, including the AMM and the Global Adaptive Loss (GAL), to jointly optimize the few-shot task and auxiliary self-supervised task, making the embedding features more robust. In the experiment, the proposed AMM achieves 2% higher performance than the naive metrics fusion module, and our AMTNet outperforms the state-of-the-arts on multiple benchmark datasets.
A Novel Autonomous Robotics System for Aquaculture Environment Monitoring
Venue: arXiv cs.RO 2022
Year: 2022

Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To address this problem, we construct a USV that can automatically navigate an efficient path to sample water quality parameters in order to monitor the aquatic environment. The detection device needs to be stable enough to resist a hostile environment or climates while enormous volumes will disturb the aquaculture environment. Meanwhile, planning an efficient path for information collecting needs to deal with the contradiction between the restriction of energy and the amount of information in the coverage region. To tackle with mentioned challenges, we provide a USV platform that can perfectly balance mobility, stability, and portability attributed to its special round-shape structure and redundancy motion design. For informative planning, we combined the TSP and CPP algorithms to construct an optimistic plan for collecting more data within a certain range and limiting energy restrictions.We designed a fish existence prediction scenario to verify the novel system in both simulation experiments and field experiments. The novel aquaculture environment monitoring system significantly reduces the burden of manual operation in the fishery inspection field. Additionally, the simplicity of the sensor setup and the minimal cost of the platform enables its other possible applications in aquatic exploration and commercial utilization.
Deep Multimodal Fusion for Generalizable Person Re-identification
Venue: arXiv cs.CV 2022
Year: 2022

Person re-identification plays a significant role in realistic scenarios due to its various applications in public security and video surveillance. Recently, leveraging the supervised or semi-unsupervised learning paradigms, which benefits from the large-scale datasets and strong computing performance, has achieved a competitive performance on a specific target domain. However, when Re-ID models are directly deployed in a new domain without target samples, they always suffer from considerable performance degradation and poor domain generalization. To address this challenge, we propose a Deep Multimodal Fusion network to elaborate rich semantic knowledge for assisting in representation learning during the pre-training. Importantly, a multimodal fusion strategy is introduced to translate the features of different modalities into the common space, which can significantly boost generalization capability of Re-ID model. As for the fine-tuning stage, a realistic dataset is adopted to fine-tune the pre-trained model for better distribution alignment with real-world data. Comprehensive experiments on benchmarks demonstrate that our method can significantly outperform previous domain generalization or meta-learning methods with a clear margin. Our source code will also be publicly available at https://github.com/JeremyXSC/DMF.
Processing Long Legal Documents with Pre-trained Transformers: Modding LegalBERT and Longformer
Venue: arXiv cs.CL 2022
Year: 2022

Pre-trained Transformers currently dominate most NLP tasks. They impose, however, limits on the maximum input length (512 sub-words in BERT), which are too restrictive in the legal domain. Even sparse-attention models, such as Longformer and BigBird, which increase the maximum input length to 4,096 sub-words, severely truncate texts in three of the six datasets of LexGLUE. Simpler linear classifiers with TF-IDF features can handle texts of any length, require far less resources to train and deploy, but are usually outperformed by pre-trained Transformers. We explore two directions to cope with long legal texts: (i) modifying a Longformer warm-started from LegalBERT to handle even longer texts (up to 8,192 sub-words), and (ii) modifying LegalBERT to use TF-IDF representations. The first approach is the best in terms of performance, surpassing a hierarchical version of LegalBERT, which was the previous state of the art in LexGLUE. The second approach leads to computationally more efficient models at the expense of lower performance, but the resulting models still outperform overall a linear SVM with TF-IDF features in long legal document classification.
Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness
Venue: arXiv cs.RO 2022
Year: 2022

Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems deployed from edge to cloud. This paper reviews new architectures and technologies that enable containerized robotic applications to seamlessly run at the edge or in the cloud. We also overview systems that include solutions from extension to ROS\,2 tooling to the integration of Kubernetes and ROS\,2. Another important trend is robot learning, and how new simulators and cloud simulations are enabling, e.g., large-scale reinforcement learning or distributed federated learning solutions. This has also enabled deeper integration of continuous interaction and continuous deployment (CI/CD) pipelines for robotic systems development, going beyond standard software unit tests with simulated tests to build and validate code automatically. We discuss the current technology readiness and list the potential new application scenarios that are becoming available. Finally, we discuss the current challenges in distributed robotic systems and list open research questions in the field.
There Are Fewer Facts Than Words: Communication With A Growing Complexity
Venue: arXiv cs.IT 2022
Year: 2022

We present an impossibility result, called a theorem about facts and words, which pertains to a general communication system. The theorem states that the number of distinct words used in a finite text is roughly greater than the number of independent elementary persistent facts described in the same text. In particular, this theorem can be related to Zipf's law, power-law scaling of mutual information, and power-law-tailed learning curves. The assumptions of the theorem are: a finite alphabet, linear sequence of symbols, complexity that does not decrease in time, entropy rate that can be estimated, and finiteness of the inverse complexity rate.
Spatial Reasoning for Few-Shot Object Detection
Venue: arXiv cs.CV 2022
Year: 2022

Although modern object detectors rely heavily on a significant amount of training data, humans can easily detect novel objects using a few training examples. The mechanism of the human visual system is to interpret spatial relationships among various objects and this process enables us to exploit contextual information by considering the co-occurrence of objects. Thus, we propose a spatial reasoning framework that detects novel objects with only a few training examples in a context. We infer geometric relatedness between novel and base RoIs (Region-of-Interests) to enhance the feature representation of novel categories using an object detector well trained on base categories. We employ a graph convolutional network as the RoIs and their relatedness are defined as nodes and edges, respectively. Furthermore, we present spatial data augmentation to overcome the few-shot environment where all objects and bounding boxes in an image are resized randomly. Using the PASCAL VOC and MS COCO datasets, we demonstrate that the proposed method significantly outperforms the state-of-the-art methods and verify its efficacy through extensive ablation studies.
Implementation of Road Safety Perception in Autonomous Vehicles in a Lane Change Scenario
Venue: arXiv cs.RO 2022
Year: 2022

Understanding human driving behavior is crucial to develop autonomous vehicles' algorithms. However, most low level automation, such as the one in advanced driving assistance systems (ADAS), is based on objective safety measures, which are not always aligned with what the drivers perceive as safe and their correspondent driving behavior. Finding the bridge between the subjective perception and objective safety measures has been analyzed in this paper focusing specifically on lane-change scenarios. Results showed statistically significant differences between what is perceived as safe by drivers and objective metrics depending on the specific maneuver and location of drivers.
Joint Data and Feature Augmentation for Self-Supervised Representation Learning on Point Clouds
Venue: arXiv cs.CV 2022
Year: 2022

To deal with the exhausting annotations, self-supervised representation learning from unlabeled point clouds has drawn much attention, especially centered on augmentation-based contrastive methods. However, specific augmentations hardly produce sufficient transferability to high-level tasks on different datasets. Besides, augmentations on point clouds may also change underlying semantics. To address the issues, we propose a simple but efficient augmentation fusion contrastive learning framework to combine data augmentations in Euclidean space and feature augmentations in feature space. In particular, we propose a data augmentation method based on sampling and graph generation. Meanwhile, we design a data augmentation network to enable a correspondence of representations by maximizing consistency between augmented graph pairs. We further design a feature augmentation network that encourages the model to learn representations invariant to the perturbations using an encoder perturbation. We comprehensively conduct extensive object classification experiments and object part segmentation experiments to validate the transferability of the proposed framework. Experimental results demonstrate that the proposed framework is effective to learn the point cloud representation in a self-supervised manner, and yields state-of-the-art results in the community. The source code is publicly available at: https://zhiyongsu.github.io/Project/AFSRL.html.
Audio Language Modeling using Perceptually-Guided Discrete Representations
Venue: arXiv cs.SD 2022
Year: 2022

In this work, we study the task of Audio Language Modeling, in which we aim at learning probabilistic models for audio that can be used for generation and completion. We use a state-of-the-art perceptually-guided audio compression model, to encode audio to discrete representations. Next, we train a transformer-based causal language model using these representations. At inference time, we perform audio auto-completion by encoding an audio prompt as a discrete sequence, feeding it to the audio language model, sampling from the model, and synthesizing the corresponding time-domain signal. We evaluate the quality of samples generated by our method on Audioset, the largest dataset for general audio to date, and show that it is superior to the evaluated baseline audio encoders. We additionally provide an extensive analysis to better understand the trade-off between audio-quality and language-modeling capabilities. Samples:link.